joep - 2024-09-04

Hi All,

for my robotics application we are building a 2-axis parallel scara using the kin_bipod_rotary kinematics.
Codesys implemented limits of [-90°, 90°] according to the documentation:
https://content.helpme-codesys.com/en/libs/SM3_Transformation/Current/SM3_Transformation/Function-Blocks/Positioning-Kinematics/Parallel-Systems/Kin_Bipod_Rotary.html

Would it be possible to overrule these limits somehow, our mechanical limits are more in the range of [-110°, 135°]
In this range we also don't encounter point where singularity is an issue.

Hopeful someone knows a solution,

Best regards,

Joep